def __init__(self,
render=True,
realtime=True,
ip="127.0.0.1",
port="21560"):
# initialize base class
self.render = render
if self.render:
self.updateDone = True
self.updateLock = threading.Lock()
self.server = UDPServer(ip, port)
self.actLen = 12
self.mySensors = sensors.Sensors(["EdgesReal"])
self.dists = array([20.0, sqrt(2.0) * 20, sqrt(3.0) * 20])
self.gravVect = array([0.0, -100.0, 0.0])
self.centerOfGrav = zeros((1, 3), float)
self.pos = ones((8, 3), float)
self.vel = zeros((8, 3), float)
self.SpringM = ones((8, 8), float)
self.d = 60.0
self.dt = 0.02
self.startHight = 10.0
self.dumping = 0.4
self.fraktMin = 0.7
self.fraktMax = 1.3
self.minAkt = self.dists[0] * self.fraktMin
self.maxAkt = self.dists[0] * self.fraktMax
self.reset()
self.count = 0
self.setEdges()
self.act(array([20.0] * 12))
self.euler()
self.realtime = realtime
self.step = 0
def __init__(self, renderer=True, realtime=True, ip="127.0.0.1", port="21590", buf='16384'):
""" initializes the virtual world, variables, the frame rate and the callback functions."""
print "ODEEnvironment -- based on Open Dynamics Engine."
# initialize base class
GraphicalEnvironment.__init__(self)
if renderer:
self.updateDone = True
self.updateLock = threading.Lock()
self.server = UDPServer(ip, port, buf)
self.render=renderer
self.realtime=realtime
# initialize attributes
self.resetAttributes()
# initialize the textures dictionary
self.textures = {}
# initialize sensor and exclude list
self.sensors = []
self.excludesensors = []
#initialize actuators list
self.actuators = []
# A joint group for the contact joints that are generated whenever two bodies collide
self.contactgroup = ode.JointGroup()
self.dt = 0.01
self.FricMu = 8.0
self.stepsPerAction = 1
self.stepCounter = 0
def __init__(self, ip="127.0.0.1", port="21560"):
self.target = array([80.0, 0.0, 0.0])
#self.dataLock = threading.Lock()
self.centerOfGrav = array([0.0, -2.0, 0.0])
self.points = ones((8, 3), float)
self.updateDone = True
self.updateLock = threading.Lock()
self.server = UDPServer(ip, port)
def __init__(self, render=True, ip="127.0.0.1", port="21580", numdir=1):
# initialize the environment (randomly)
self.action = [0.0, 0.0]
self.delay = False
self.numdir = numdir # number of directions in which ship starts
self.render = render
if self.render:
self.updateDone = True
self.updateLock = threading.Lock()
self.server = UDPServer(ip, port)
self.reset()
